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<div class="title">line_rgbd.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved. </span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_RECOGNITION_LINEMOD_LINE_RGBD_IMPL_HPP_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_RECOGNITION_LINEMOD_LINE_RGBD_IMPL_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment">//#include &lt;pcl/recognition/linemod/line_rgbd.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/io/pcd_io.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;fcntl.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;limits&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#ifdef _WIN32</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor"># include &lt;io.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor"># include &lt;windows.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor"># define pcl_open                    _open</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor"># define pcl_close(fd)               _close(fd)</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor"># define pcl_lseek(fd,offset,origin) _lseek(fd,offset,origin)</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;unistd.h&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor"># include &lt;sys/mman.h&gt;</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor"># define pcl_open                    open</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="preprocessor"># define pcl_close(fd)               close(fd)</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor"># define pcl_lseek(fd,offset,origin) lseek(fd,offset,origin)</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>XYZT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RGBT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#af17a00e4b06f54824d2cd0d451c9b2d1">   62</a></span>&#160;<a class="code" href="classpcl_1_1_line_r_g_b_d.html#af17a00e4b06f54824d2cd0d451c9b2d1">pcl::LineRGBD&lt;PointXYZT, PointRGBT&gt;::readLTMHeader</a> (<span class="keywordtype">int</span> fd, <a class="code" href="structpcl_1_1io_1_1_t_a_r_header.html">pcl::io::TARHeader</a> &amp;header)</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;{</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="comment">// Read in the header</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordtype">int</span> result = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (::read (fd, <span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;header.file_name[0]), 512));</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordflow">if</span> (result == -1)</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="comment">// We only support regular files for now. </span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <span class="comment">// Addional file types in TAR include: hard links, symbolic links, device/special files, block devices, </span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="comment">// directories, and named pipes.</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordflow">if</span> (header.file_type[0] != <span class="charliteral">&#39;0&#39;</span> &amp;&amp; header.file_type[0] != <span class="charliteral">&#39;\0&#39;</span>)</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="comment">// We only support USTAR version 0 files for now</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordflow">if</span> (std::string (header.ustar).substr (0, 5) != <span class="stringliteral">&quot;ustar&quot;</span>)</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordflow">if</span> (header.<a class="code" href="structpcl_1_1io_1_1_t_a_r_header.html#a454d9e608b1311a6761804f6361395db">getFileSize</a> () == 0)</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;}</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>XYZT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RGBT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#a43299ced101ae893d58a46ad3196f78e">   87</a></span>&#160;<a class="code" href="classpcl_1_1_line_r_g_b_d.html#a43299ced101ae893d58a46ad3196f78e">pcl::LineRGBD&lt;PointXYZT, PointRGBT&gt;::loadTemplates</a> (<span class="keyword">const</span> std::string &amp;file_name, <span class="keyword">const</span> <span class="keywordtype">size_t</span> object_id)</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;{</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="comment">// Open the file</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keywordtype">int</span> ltm_fd = pcl_open (file_name.c_str (), O_RDONLY);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordflow">if</span> (ltm_fd == -1)</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keywordtype">int</span> ltm_offset = 0;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <a class="code" href="structpcl_1_1io_1_1_t_a_r_header.html">pcl::io::TARHeader</a> ltm_header;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <a class="code" href="classpcl_1_1_p_c_d_reader.html">PCDReader</a> pcd_reader;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  std::string pcd_ext (<span class="stringliteral">&quot;.pcd&quot;</span>);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  std::string sqmmt_ext (<span class="stringliteral">&quot;.sqmmt&quot;</span>);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="comment">// While there still is an LTM header to be read</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="keywordflow">while</span> (readLTMHeader (ltm_fd, ltm_header))</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  {</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    ltm_offset += 512;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="comment">// Search for extension</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    std::string chunk_name (ltm_header.file_name);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    std::transform (chunk_name.begin (), chunk_name.end (), chunk_name.begin (), ::tolower);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    std::string::size_type it;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keywordflow">if</span> ((it = chunk_name.find (pcd_ext)) != std::string::npos &amp;&amp;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        (pcd_ext.size () - (chunk_name.size () - it)) == 0)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    {</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::LineRGBD::loadTemplates] Reading and parsing %s as a PCD file.\n&quot;</span>, chunk_name.c_str ());</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <span class="comment">// Read the next PCD file</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      template_point_clouds_.resize (template_point_clouds_.size () + 1);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      pcd_reader.<a class="code" href="classpcl_1_1_p_c_d_reader.html#a21f154e8ce3f4d5e905ecaa395935c42">read</a> (file_name, template_point_clouds_[template_point_clouds_.size () - 1], ltm_offset);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="comment">// Increment the offset for the next file</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      ltm_offset += (ltm_header.<a class="code" href="structpcl_1_1io_1_1_t_a_r_header.html#a454d9e608b1311a6761804f6361395db">getFileSize</a> ()) + (512 - ltm_header.<a class="code" href="structpcl_1_1io_1_1_t_a_r_header.html#a454d9e608b1311a6761804f6361395db">getFileSize</a> () % 512);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((it = chunk_name.find (sqmmt_ext)) != std::string::npos &amp;&amp;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;             (sqmmt_ext.size () - (chunk_name.size () - it)) == 0)</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    {</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::LineRGBD::loadTemplates] Reading and parsing %s as a SQMMT file.\n&quot;</span>, chunk_name.c_str ());</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> fsize = ltm_header.<a class="code" href="structpcl_1_1io_1_1_t_a_r_header.html#a454d9e608b1311a6761804f6361395db">getFileSize</a> ();</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <span class="keywordtype">char</span> *buffer = <span class="keyword">new</span> <span class="keywordtype">char</span>[fsize];</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keywordtype">int</span> result = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (::read (ltm_fd, <span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;buffer[0]), fsize));</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keywordflow">if</span> (result == -1)</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      {</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="keyword">delete</span> [] buffer;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        PCL_ERROR (<span class="stringliteral">&quot;[pcl::LineRGBD::loadTemplates] Error reading SQMMT template from file!\n&quot;</span>);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      }</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="comment">// Read a SQMMT file</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      std::stringstream stream (std::stringstream::in | std::stringstream::out | std::stringstream::binary);</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      stream.write (buffer, fsize);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <a class="code" href="structpcl_1_1_sparse_quantized_multi_mod_template.html">SparseQuantizedMultiModTemplate</a> sqmmt;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      sqmmt.<a class="code" href="structpcl_1_1_sparse_quantized_multi_mod_template.html#a89bbed40834ebdf5bfdd9e718746ed7b">deserialize</a> (stream);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      linemod_.addTemplate (sqmmt);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      object_ids_.push_back (object_id);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="comment">// Increment the offset for the next file</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      ltm_offset += (ltm_header.<a class="code" href="structpcl_1_1io_1_1_t_a_r_header.html#a454d9e608b1311a6761804f6361395db">getFileSize</a> ()) + (512 - ltm_header.<a class="code" href="structpcl_1_1io_1_1_t_a_r_header.html#a454d9e608b1311a6761804f6361395db">getFileSize</a> () % 512);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <span class="keyword">delete</span> [] buffer;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    }</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keywordflow">if</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (pcl_lseek (ltm_fd, ltm_offset, SEEK_SET)) &lt; 0)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  }</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <span class="comment">// Close the file</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  pcl_close (ltm_fd);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  <span class="comment">// Compute 3D bounding boxes from the template point clouds</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  bounding_boxes_.resize (template_point_clouds_.size ());</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; template_point_clouds_.size (); ++i)</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  {</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointXYZRGBA&gt;</a> &amp; template_point_cloud = template_point_clouds_[i];</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html">BoundingBoxXYZ</a> &amp; bb = bounding_boxes_[i];</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a16450ce18154338681e032904c423f99">x</a> = bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a74fecaefd54b5d549abee0806cc76f98">y</a> = bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#ac7db1c7b64f050fec99b1d3bdd5f6475">z</a> = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a115c7432f8c381c53ab4575226c57a9c">width</a> = bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#af330b68c9dde00c92e5a518655dfcac6">height</a> = bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a79e978c9e7351c0f01a4c2075364568c">depth</a> = 0.0f;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    <span class="keywordtype">float</span> center_x = 0.0f;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keywordtype">float</span> center_y = 0.0f;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keywordtype">float</span> center_z = 0.0f;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keywordtype">float</span> min_x = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    <span class="keywordtype">float</span> min_y = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="keywordtype">float</span> min_z = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="keywordtype">float</span> max_x = -std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="keywordtype">float</span> max_y = -std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="keywordtype">float</span> max_z = -std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <span class="keywordtype">size_t</span> counter = 0;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; template_point_cloud.size (); ++j)</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &amp; p = template_point_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[j];</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (p.x) || !pcl_isfinite (p.y) || !pcl_isfinite (p.z))</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      min_x = std::min (min_x, p.x);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      min_y = std::min (min_y, p.y);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      min_z = std::min (min_z, p.z);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      max_x = std::max (max_x, p.x);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      max_y = std::max (max_y, p.y);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      max_z = std::max (max_z, p.z);</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      center_x += p.x;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      center_y += p.y;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      center_z += p.z;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      ++counter;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    }</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    center_x /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (counter);</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    center_y /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (counter);</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    center_z /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (counter);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a115c7432f8c381c53ab4575226c57a9c">width</a>  = max_x - min_x;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#af330b68c9dde00c92e5a518655dfcac6">height</a> = max_y - min_y;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a79e978c9e7351c0f01a4c2075364568c">depth</a>  = max_z - min_z;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a16450ce18154338681e032904c423f99">x</a> = (min_x + bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a115c7432f8c381c53ab4575226c57a9c">width</a> / 2.0f) - center_x - bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a115c7432f8c381c53ab4575226c57a9c">width</a> / 2.0f;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a74fecaefd54b5d549abee0806cc76f98">y</a> = (min_y + bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#af330b68c9dde00c92e5a518655dfcac6">height</a> / 2.0f) - center_y - bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#af330b68c9dde00c92e5a518655dfcac6">height</a> / 2.0f;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#ac7db1c7b64f050fec99b1d3bdd5f6475">z</a> = (min_z + bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a79e978c9e7351c0f01a4c2075364568c">depth</a> / 2.0f) - center_z - bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a79e978c9e7351c0f01a4c2075364568c">depth</a> / 2.0f;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    for (<span class="keywordtype">size_t</span> j = 0; j &lt; template_point_cloud.size (); ++j)</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    {</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> p = template_point_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[j];</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (p.x) || !pcl_isfinite (p.y) || !pcl_isfinite (p.z))</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      p.x -= center_x;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      p.y -= center_y;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      p.z -= center_z;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      template_point_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[j] = p;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    }</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  }</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;}</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>XYZT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RGBT&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00233"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#a94b082a85ebcb7893a4e3afbf25a041a">  233</a></span>&#160;<a class="code" href="classpcl_1_1_line_r_g_b_d.html#a94b082a85ebcb7893a4e3afbf25a041a">pcl::LineRGBD&lt;PointXYZT, PointRGBT&gt;::createAndAddTemplate</a> (</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;</a> &amp; cloud,</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> object_id,</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="keyword">const</span> <a class="code" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp; mask_xyz,</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <span class="keyword">const</span> <a class="code" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp; mask_rgb,</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_region_x_y.html">RegionXY</a> &amp; region)</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;{</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  <span class="comment">// add point cloud</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  template_point_clouds_.resize (template_point_clouds_.size () + 1);</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (cloud, template_point_clouds_[template_point_clouds_.size () - 1]);</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  <span class="comment">// add template</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  object_ids_.push_back (object_id);</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  <span class="comment">// Compute 3D bounding boxes from the template point clouds</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  bounding_boxes_.resize (template_point_clouds_.size ());</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  {</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> i = template_point_clouds_.size () - 1;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointXYZRGBA&gt;</a> &amp; template_point_cloud = template_point_clouds_[i];</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html">BoundingBoxXYZ</a> &amp; bb = bounding_boxes_[i];</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a16450ce18154338681e032904c423f99">x</a> = bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a74fecaefd54b5d549abee0806cc76f98">y</a> = bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#ac7db1c7b64f050fec99b1d3bdd5f6475">z</a> = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a115c7432f8c381c53ab4575226c57a9c">width</a> = bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#af330b68c9dde00c92e5a518655dfcac6">height</a> = bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a79e978c9e7351c0f01a4c2075364568c">depth</a> = 0.0f;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    <span class="keywordtype">float</span> center_x = 0.0f;</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    <span class="keywordtype">float</span> center_y = 0.0f;</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    <span class="keywordtype">float</span> center_z = 0.0f;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <span class="keywordtype">float</span> min_x = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    <span class="keywordtype">float</span> min_y = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    <span class="keywordtype">float</span> min_z = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    <span class="keywordtype">float</span> max_x = -std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    <span class="keywordtype">float</span> max_y = -std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    <span class="keywordtype">float</span> max_z = -std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    <span class="keywordtype">size_t</span> counter = 0;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; template_point_cloud.size (); ++j)</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    {</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &amp; p = template_point_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[j];</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (p.x) || !pcl_isfinite (p.y) || !pcl_isfinite (p.z))</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      min_x = std::min (min_x, p.x);</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      min_y = std::min (min_y, p.y);</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      min_z = std::min (min_z, p.z);</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      max_x = std::max (max_x, p.x);</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      max_y = std::max (max_y, p.y);</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;      max_z = std::max (max_z, p.z);</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      center_x += p.x;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      center_y += p.y;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      center_z += p.z;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      ++counter;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    }</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    center_x /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (counter);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    center_y /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (counter);</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    center_z /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (counter);</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a115c7432f8c381c53ab4575226c57a9c">width</a>  = max_x - min_x;</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#af330b68c9dde00c92e5a518655dfcac6">height</a> = max_y - min_y;</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a79e978c9e7351c0f01a4c2075364568c">depth</a>  = max_z - min_z;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a16450ce18154338681e032904c423f99">x</a> = (min_x + bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a115c7432f8c381c53ab4575226c57a9c">width</a> / 2.0f) - center_x - bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a115c7432f8c381c53ab4575226c57a9c">width</a> / 2.0f;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a74fecaefd54b5d549abee0806cc76f98">y</a> = (min_y + bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#af330b68c9dde00c92e5a518655dfcac6">height</a> / 2.0f) - center_y - bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#af330b68c9dde00c92e5a518655dfcac6">height</a> / 2.0f;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#ac7db1c7b64f050fec99b1d3bdd5f6475">z</a> = (min_z + bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a79e978c9e7351c0f01a4c2075364568c">depth</a> / 2.0f) - center_z - bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a79e978c9e7351c0f01a4c2075364568c">depth</a> / 2.0f;</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    for (<span class="keywordtype">size_t</span> j = 0; j &lt; template_point_cloud.size (); ++j)</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    {</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> p = template_point_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[j];</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (p.x) || !pcl_isfinite (p.y) || !pcl_isfinite (p.z))</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;      p.x -= center_x;</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      p.y -= center_y;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      p.z -= center_z;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160; </div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      template_point_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[j] = p;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    }</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;  }</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;  std::vector&lt;pcl::QuantizableModality*&gt; modalities;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  modalities.push_back (&amp;color_gradient_mod_);</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  modalities.push_back (&amp;surface_normal_mod_);</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  std::vector&lt;MaskMap*&gt; masks;</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  masks.push_back (<span class="keyword">const_cast&lt;</span><a class="code" href="classpcl_1_1_mask_map.html">MaskMap</a>*<span class="keyword">&gt;</span> (&amp;mask_rgb));</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  masks.push_back (<span class="keyword">const_cast&lt;</span><a class="code" href="classpcl_1_1_mask_map.html">MaskMap</a>*<span class="keyword">&gt;</span> (&amp;mask_xyz));</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  <span class="keywordflow">return</span> (linemod_.createAndAddTemplate (modalities, masks, region));</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;}</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160; </div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>XYZT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RGBT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;<a class="code" href="classpcl_1_1_line_r_g_b_d.html">pcl::LineRGBD&lt;PointXYZT, PointRGBT&gt;::addTemplate</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_sparse_quantized_multi_mod_template.html">SparseQuantizedMultiModTemplate</a> &amp; sqmmt, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;</a> &amp; cloud, <span class="keywordtype">size_t</span> object_id)</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;{</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  <span class="comment">// add point cloud</span></div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;  template_point_clouds_.resize (template_point_clouds_.size () + 1);</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;  <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (cloud, template_point_clouds_[template_point_clouds_.size () - 1]);</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  <span class="comment">// add template</span></div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;  linemod_.addTemplate (sqmmt);</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  object_ids_.push_back (object_id);</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160; </div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;  <span class="comment">// Compute 3D bounding boxes from the template point clouds</span></div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;  bounding_boxes_.resize (template_point_clouds_.size ());</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  {</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> i = template_point_clouds_.size () - 1;</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160; </div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;    <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointXYZRGBA&gt;</a> &amp; template_point_cloud = template_point_clouds_[i];</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html">BoundingBoxXYZ</a> &amp; bb = bounding_boxes_[i];</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a16450ce18154338681e032904c423f99">x</a> = bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a74fecaefd54b5d549abee0806cc76f98">y</a> = bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#ac7db1c7b64f050fec99b1d3bdd5f6475">z</a> = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a115c7432f8c381c53ab4575226c57a9c">width</a> = bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#af330b68c9dde00c92e5a518655dfcac6">height</a> = bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a79e978c9e7351c0f01a4c2075364568c">depth</a> = 0.0f;</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    <span class="keywordtype">float</span> center_x = 0.0f;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    <span class="keywordtype">float</span> center_y = 0.0f;</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    <span class="keywordtype">float</span> center_z = 0.0f;</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;    <span class="keywordtype">float</span> min_x = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;    <span class="keywordtype">float</span> min_y = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    <span class="keywordtype">float</span> min_z = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    <span class="keywordtype">float</span> max_x = -std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    <span class="keywordtype">float</span> max_y = -std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;    <span class="keywordtype">float</span> max_z = -std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;    <span class="keywordtype">size_t</span> counter = 0;</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; template_point_cloud.size (); ++j)</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;    {</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;      <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> &amp; p = template_point_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[j];</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160; </div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (p.x) || !pcl_isfinite (p.y) || !pcl_isfinite (p.z))</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160; </div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;      min_x = std::min (min_x, p.x);</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;      min_y = std::min (min_y, p.y);</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      min_z = std::min (min_z, p.z);</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;      max_x = std::max (max_x, p.x);</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;      max_y = std::max (max_y, p.y);</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;      max_z = std::max (max_z, p.z);</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160; </div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;      center_x += p.x;</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;      center_y += p.y;</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;      center_z += p.z;</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160; </div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;      ++counter;</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    }</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160; </div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;    center_x /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (counter);</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    center_y /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (counter);</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;    center_z /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (counter);</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160; </div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;    bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a115c7432f8c381c53ab4575226c57a9c">width</a>  = max_x - min_x;</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;    bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#af330b68c9dde00c92e5a518655dfcac6">height</a> = max_y - min_y;</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;    bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a79e978c9e7351c0f01a4c2075364568c">depth</a>  = max_z - min_z;</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160; </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a16450ce18154338681e032904c423f99">x</a> = (min_x + bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a115c7432f8c381c53ab4575226c57a9c">width</a> / 2.0f) - center_x - bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a115c7432f8c381c53ab4575226c57a9c">width</a> / 2.0f;</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;    bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a74fecaefd54b5d549abee0806cc76f98">y</a> = (min_y + bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#af330b68c9dde00c92e5a518655dfcac6">height</a> / 2.0f) - center_y - bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#af330b68c9dde00c92e5a518655dfcac6">height</a> / 2.0f;</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;    bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#ac7db1c7b64f050fec99b1d3bdd5f6475">z</a> = (min_z + bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a79e978c9e7351c0f01a4c2075364568c">depth</a> / 2.0f) - center_z - bb.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a79e978c9e7351c0f01a4c2075364568c">depth</a> / 2.0f;</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160; </div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;    for (<span class="keywordtype">size_t</span> j = 0; j &lt; template_point_cloud.size (); ++j)</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    {</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;      PointXYZRGBA p = template_point_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[j];</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160; </div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (p.x) || !pcl_isfinite (p.y) || !pcl_isfinite (p.z))</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160; </div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;      p.x -= center_x;</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;      p.y -= center_y;</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;      p.z -= center_z;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160; </div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;      template_point_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[j] = p;</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;    }</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;  }</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160; </div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;}</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160; </div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>XYZT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RGBT&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00412"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#a04e2c0b8243551b559a9b78f90a8af31">  412</a></span>&#160;<a class="code" href="classpcl_1_1_line_r_g_b_d.html#a04e2c0b8243551b559a9b78f90a8af31">pcl::LineRGBD&lt;PointXYZT, PointRGBT&gt;::detect</a> (</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;    std::vector&lt;<span class="keyword">typename</span> <a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html">pcl::LineRGBD&lt;PointXYZT, PointRGBT&gt;::Detection</a>&gt; &amp; detections)</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;{</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;  std::vector&lt;pcl::QuantizableModality*&gt; modalities;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;  modalities.push_back (&amp;color_gradient_mod_);</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;  modalities.push_back (&amp;surface_normal_mod_);</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160; </div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;  std::vector&lt;pcl::LINEMODDetection&gt; linemod_detections;</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;  linemod_.detectTemplates (modalities, linemod_detections);</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160; </div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;  detections_.clear ();</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;  detections_.reserve (linemod_detections.size ());</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;  detections.clear ();</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;  detections.reserve (linemod_detections.size ());</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> detection_id = 0; detection_id &lt; linemod_detections.size (); ++detection_id)</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;  {</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    <a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html">pcl::LINEMODDetection</a> &amp; linemod_detection = linemod_detections[detection_id];</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160; </div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    <span class="keyword">typename</span> <a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html">pcl::LineRGBD&lt;PointXYZT, PointRGBT&gt;::Detection</a> detection;</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#aa4ba79365eacaca53febd469b2c7cb95">template_id</a> = linemod_detection.<a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a5b0ae6f2aa1d3a67467d5890e5ee4430">template_id</a>;</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a371bf3ae5d566bf5bced79f137dee7e6">object_id</a> = object_ids_[linemod_detection.<a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a5b0ae6f2aa1d3a67467d5890e5ee4430">template_id</a>];</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a3f6202bca884484b2ef7a9ca0edd2bbc">detection_id</a> = detection_id;</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#ab480cd05d1d41fd906de543a3b5276cc">response</a> = linemod_detection.<a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a8d1499ff25f160543569ddd6feefb805">score</a>;</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160; </div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;    <span class="comment">// compute bounding box:</span></div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;    <span class="comment">// we assume that the bounding boxes of the templates are relative to the center of mass </span></div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;    <span class="comment">// of the template points; so we also compute the center of mass of the points</span></div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;    <span class="comment">// covered by the </span></div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160; </div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_sparse_quantized_multi_mod_template.html">pcl::SparseQuantizedMultiModTemplate</a> &amp; linemod_template = </div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;      linemod_.getTemplate (linemod_detection.<a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a5b0ae6f2aa1d3a67467d5890e5ee4430">template_id</a>);</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160; </div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> start_x = std::max (linemod_detection.<a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#ab79e94254c59b9f0f1445dbf8489ab36">x</a>, 0);</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> start_y = std::max (linemod_detection.<a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a6a0b620be4a33b69bf2fac09f2ff8f0a">y</a>, 0);</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> end_x = std::min (<span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (start_x + linemod_template.<a class="code" href="structpcl_1_1_sparse_quantized_multi_mod_template.html#a7a92c3494f0dfad67da6bb001c3bc63c">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#a2040926ab029db2fb8956e8c4009f273">width</a>),</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;                                   <span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (cloud_xyz_-&gt;width));</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> end_y = std::min (<span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (start_y + linemod_template.<a class="code" href="structpcl_1_1_sparse_quantized_multi_mod_template.html#a7a92c3494f0dfad67da6bb001c3bc63c">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#afd3791c009b1520b7b2b5c81faa044b8">height</a>),</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;                                   <span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (cloud_xyz_-&gt;height));</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160; </div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#adb3f9494ff5217fe319280ae0807fb22">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#a08cedb5e7c6d6fc6abe758a91acbb9aa">x</a> = linemod_detection.<a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#ab79e94254c59b9f0f1445dbf8489ab36">x</a>;</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#adb3f9494ff5217fe319280ae0807fb22">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#afade349621bae141febb8220469de8bb">y</a> = linemod_detection.<a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a6a0b620be4a33b69bf2fac09f2ff8f0a">y</a>;</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#adb3f9494ff5217fe319280ae0807fb22">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#a2040926ab029db2fb8956e8c4009f273">width</a>  = linemod_template.<a class="code" href="structpcl_1_1_sparse_quantized_multi_mod_template.html#a7a92c3494f0dfad67da6bb001c3bc63c">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#a2040926ab029db2fb8956e8c4009f273">width</a>;</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#adb3f9494ff5217fe319280ae0807fb22">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#afd3791c009b1520b7b2b5c81faa044b8">height</a> = linemod_template.<a class="code" href="structpcl_1_1_sparse_quantized_multi_mod_template.html#a7a92c3494f0dfad67da6bb001c3bc63c">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#afd3791c009b1520b7b2b5c81faa044b8">height</a>;</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160; </div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;    <span class="comment">//std::cerr &lt;&lt; &quot;detection region: &quot; &lt;&lt; linemod_detection.x &lt;&lt; &quot;, &quot;</span></div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;    <span class="comment">//  &lt;&lt; linemod_detection.y &lt;&lt; &quot;, &quot;</span></div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;    <span class="comment">//  &lt;&lt; linemod_template.region.width &lt;&lt; &quot;, &quot;</span></div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;    <span class="comment">//  &lt;&lt; linemod_template.region.height &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160; </div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;    <span class="keywordtype">float</span> center_x = 0.0f;</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;    <span class="keywordtype">float</span> center_y = 0.0f;</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;    <span class="keywordtype">float</span> center_z = 0.0f;</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;    <span class="keywordtype">size_t</span> counter = 0;</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = start_y; row_index &lt; end_y; ++row_index)</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;    {</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = start_x; col_index &lt; end_x; ++col_index)</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;      {</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;        <span class="keyword">const</span> PointXYZT &amp; point = (*cloud_xyz_) (col_index, row_index);</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160; </div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;        <span class="keywordflow">if</span> (pcl_isfinite (point.x) &amp;&amp; pcl_isfinite (point.y) &amp;&amp; pcl_isfinite (point.z))</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;        {</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;          center_x += point.x;</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;          center_y += point.y;</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;          center_z += point.z;</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;          ++counter;</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;        }</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;      }</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;    }</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> inv_counter = 1.0f / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (counter);</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;    center_x *= inv_counter;</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;    center_y *= inv_counter;</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;    center_z *= inv_counter;</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160; </div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;    <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html">pcl::BoundingBoxXYZ</a> template_bounding_box = bounding_boxes_[detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#aa4ba79365eacaca53febd469b2c7cb95">template_id</a>];</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160; </div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">bounding_box</a> = template_bounding_box;</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">bounding_box</a>.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a16450ce18154338681e032904c423f99">x</a> += center_x;</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">bounding_box</a>.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a74fecaefd54b5d549abee0806cc76f98">y</a> += center_y;</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">bounding_box</a>.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#ac7db1c7b64f050fec99b1d3bdd5f6475">z</a> += center_z;</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160; </div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;    detections_.push_back (detection);</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;  }</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160; </div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;  <span class="comment">// refine detections along depth</span></div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;  refineDetectionsAlongDepth ();</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;  <span class="comment">//applyprojectivedepthicpondetections();</span></div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160; </div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;  <span class="comment">// remove overlaps</span></div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;  removeOverlappingDetections ();</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160; </div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> detection_index = 0; detection_index &lt; detections_.size (); ++detection_index)</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;  {</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;    detections.push_back (detections_[detection_index]);</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;  }</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;}</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160; </div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>XYZT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RGBT&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00510"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#a158f133218ce2923d2bc56572b9a7f95">  510</a></span>&#160;<a class="code" href="classpcl_1_1_line_r_g_b_d.html#a158f133218ce2923d2bc56572b9a7f95">pcl::LineRGBD&lt;PointXYZT, PointRGBT&gt;::detectSemiScaleInvariant</a> (</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;    std::vector&lt;<span class="keyword">typename</span> <a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html">pcl::LineRGBD&lt;PointXYZT, PointRGBT&gt;::Detection</a>&gt; &amp; detections,</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> min_scale,</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> max_scale,</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> scale_multiplier)</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;{</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;  std::vector&lt;pcl::QuantizableModality*&gt; modalities;</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;  modalities.push_back (&amp;color_gradient_mod_);</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;  modalities.push_back (&amp;surface_normal_mod_);</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160; </div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;  std::vector&lt;pcl::LINEMODDetection&gt; linemod_detections;</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;  linemod_.detectTemplatesSemiScaleInvariant (modalities, linemod_detections, min_scale, max_scale, scale_multiplier);</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160; </div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;  detections_.clear ();</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;  detections_.reserve (linemod_detections.size ());</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;  detections.clear ();</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;  detections.reserve (linemod_detections.size ());</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> detection_id = 0; detection_id &lt; linemod_detections.size (); ++detection_id)</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;  {</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;    <a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html">pcl::LINEMODDetection</a> &amp; linemod_detection = linemod_detections[detection_id];</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160; </div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;    <span class="keyword">typename</span> <a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html">pcl::LineRGBD&lt;PointXYZT, PointRGBT&gt;::Detection</a> detection;</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#aa4ba79365eacaca53febd469b2c7cb95">template_id</a> = linemod_detection.<a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a5b0ae6f2aa1d3a67467d5890e5ee4430">template_id</a>;</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a371bf3ae5d566bf5bced79f137dee7e6">object_id</a> = object_ids_[linemod_detection.<a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a5b0ae6f2aa1d3a67467d5890e5ee4430">template_id</a>];</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a3f6202bca884484b2ef7a9ca0edd2bbc">detection_id</a> = detection_id;</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#ab480cd05d1d41fd906de543a3b5276cc">response</a> = linemod_detection.<a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a8d1499ff25f160543569ddd6feefb805">score</a>;</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160; </div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;    <span class="comment">// compute bounding box:</span></div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;    <span class="comment">// we assume that the bounding boxes of the templates are relative to the center of mass </span></div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;    <span class="comment">// of the template points; so we also compute the center of mass of the points</span></div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;    <span class="comment">// covered by the </span></div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160; </div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_sparse_quantized_multi_mod_template.html">pcl::SparseQuantizedMultiModTemplate</a> &amp; linemod_template = </div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;      linemod_.getTemplate (linemod_detection.<a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a5b0ae6f2aa1d3a67467d5890e5ee4430">template_id</a>);</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160; </div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> start_x = std::max (linemod_detection.<a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#ab79e94254c59b9f0f1445dbf8489ab36">x</a>, 0);</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> start_y = std::max (linemod_detection.<a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a6a0b620be4a33b69bf2fac09f2ff8f0a">y</a>, 0);</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> end_x = std::min (<span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (start_x + linemod_template.<a class="code" href="structpcl_1_1_sparse_quantized_multi_mod_template.html#a7a92c3494f0dfad67da6bb001c3bc63c">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#a2040926ab029db2fb8956e8c4009f273">width</a> * linemod_detection.<a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a71652f6da75b189628e2176d13ba5474">scale</a>),</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;                                   <span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (cloud_xyz_-&gt;width));</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> end_y = std::min (<span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (start_y + linemod_template.<a class="code" href="structpcl_1_1_sparse_quantized_multi_mod_template.html#a7a92c3494f0dfad67da6bb001c3bc63c">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#afd3791c009b1520b7b2b5c81faa044b8">height</a> * linemod_detection.<a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a71652f6da75b189628e2176d13ba5474">scale</a>),</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;                                   <span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (cloud_xyz_-&gt;height));</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160; </div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#adb3f9494ff5217fe319280ae0807fb22">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#a08cedb5e7c6d6fc6abe758a91acbb9aa">x</a> = linemod_detection.<a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#ab79e94254c59b9f0f1445dbf8489ab36">x</a>;</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#adb3f9494ff5217fe319280ae0807fb22">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#afade349621bae141febb8220469de8bb">y</a> = linemod_detection.<a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a6a0b620be4a33b69bf2fac09f2ff8f0a">y</a>;</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#adb3f9494ff5217fe319280ae0807fb22">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#a2040926ab029db2fb8956e8c4009f273">width</a>  = linemod_template.<a class="code" href="structpcl_1_1_sparse_quantized_multi_mod_template.html#a7a92c3494f0dfad67da6bb001c3bc63c">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#a2040926ab029db2fb8956e8c4009f273">width</a> * linemod_detection.<a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a71652f6da75b189628e2176d13ba5474">scale</a>;</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#adb3f9494ff5217fe319280ae0807fb22">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#afd3791c009b1520b7b2b5c81faa044b8">height</a> = linemod_template.<a class="code" href="structpcl_1_1_sparse_quantized_multi_mod_template.html#a7a92c3494f0dfad67da6bb001c3bc63c">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#afd3791c009b1520b7b2b5c81faa044b8">height</a> * linemod_detection.<a class="code" href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a71652f6da75b189628e2176d13ba5474">scale</a>;</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160; </div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;    <span class="comment">//std::cerr &lt;&lt; &quot;detection region: &quot; &lt;&lt; linemod_detection.x &lt;&lt; &quot;, &quot;</span></div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;    <span class="comment">//  &lt;&lt; linemod_detection.y &lt;&lt; &quot;, &quot;</span></div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;    <span class="comment">//  &lt;&lt; linemod_template.region.width &lt;&lt; &quot;, &quot;</span></div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;    <span class="comment">//  &lt;&lt; linemod_template.region.height &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160; </div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;    <span class="keywordtype">float</span> center_x = 0.0f;</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;    <span class="keywordtype">float</span> center_y = 0.0f;</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;    <span class="keywordtype">float</span> center_z = 0.0f;</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;    <span class="keywordtype">size_t</span> counter = 0;</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = start_y; row_index &lt; end_y; ++row_index)</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;    {</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = start_x; col_index &lt; end_x; ++col_index)</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;      {</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;        <span class="keyword">const</span> PointXYZT &amp; point = (*cloud_xyz_) (col_index, row_index);</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160; </div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;        <span class="keywordflow">if</span> (pcl_isfinite (point.x) &amp;&amp; pcl_isfinite (point.y) &amp;&amp; pcl_isfinite (point.z))</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;        {</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;          center_x += point.x;</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;          center_y += point.y;</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;          center_z += point.z;</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;          ++counter;</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;        }</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;      }</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;    }</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> inv_counter = 1.0f / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (counter);</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;    center_x *= inv_counter;</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;    center_y *= inv_counter;</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;    center_z *= inv_counter;</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160; </div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;    <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html">pcl::BoundingBoxXYZ</a> template_bounding_box = bounding_boxes_[detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#aa4ba79365eacaca53febd469b2c7cb95">template_id</a>];</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160; </div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">bounding_box</a> = template_bounding_box;</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">bounding_box</a>.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a16450ce18154338681e032904c423f99">x</a> += center_x;</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">bounding_box</a>.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a74fecaefd54b5d549abee0806cc76f98">y</a> += center_y;</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">bounding_box</a>.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#ac7db1c7b64f050fec99b1d3bdd5f6475">z</a> += center_z;</div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160; </div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;    detections_.push_back (detection);</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;  }</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160; </div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;  <span class="comment">// refine detections along depth</span></div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;  <span class="comment">//refineDetectionsAlongDepth ();</span></div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;  <span class="comment">//applyProjectiveDepthICPOnDetections();</span></div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160; </div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;  <span class="comment">// remove overlaps</span></div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;  removeOverlappingDetections ();</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160; </div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> detection_index = 0; detection_index &lt; detections_.size (); ++detection_index)</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;  {</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;    detections.push_back (detections_[detection_index]);</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;  }</div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;}</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160; </div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>XYZT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RGBT&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00611"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#ad5aad0f7531ada96716df263851fd991">  611</a></span>&#160;<a class="code" href="classpcl_1_1_line_r_g_b_d.html#ad5aad0f7531ada96716df263851fd991">pcl::LineRGBD&lt;PointXYZT, PointRGBT&gt;::computeTransformedTemplatePoints</a> (</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> detection_id, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;</a> &amp;cloud)</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;{</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;  <span class="keywordflow">if</span> (detection_id &gt;= detections_.size ())</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;ERROR pcl::LineRGBD::computeTransformedTemplatePoints - detection_id is out of bounds\n&quot;</span>);</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160; </div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> template_id = detections_[detection_id].template_id;</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;  <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;</a> &amp; template_point_cloud = template_point_clouds_[template_id];</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160; </div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html">pcl::BoundingBoxXYZ</a> &amp; template_bounding_box = bounding_boxes_[template_id];</div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html">pcl::BoundingBoxXYZ</a> &amp; detection_bounding_box = detections_[detection_id].bounding_box;</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160; </div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;  <span class="comment">//std::cerr &lt;&lt; &quot;detection: &quot; </span></div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;  <span class="comment">//  &lt;&lt; detection_bounding_box.x &lt;&lt; &quot;, &quot;</span></div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;  <span class="comment">//  &lt;&lt; detection_bounding_box.y &lt;&lt; &quot;, &quot;</span></div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;  <span class="comment">//  &lt;&lt; detection_bounding_box.z &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;  <span class="comment">//std::cerr &lt;&lt; &quot;template: &quot; </span></div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;  <span class="comment">//  &lt;&lt; template_bounding_box.x &lt;&lt; &quot;, &quot;</span></div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;  <span class="comment">//  &lt;&lt; template_bounding_box.y &lt;&lt; &quot;, &quot;</span></div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;  <span class="comment">//  &lt;&lt; template_bounding_box.z &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> translation_x = detection_bounding_box.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a16450ce18154338681e032904c423f99">x</a> - template_bounding_box.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a16450ce18154338681e032904c423f99">x</a>;</div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> translation_y = detection_bounding_box.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a74fecaefd54b5d549abee0806cc76f98">y</a> - template_bounding_box.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a74fecaefd54b5d549abee0806cc76f98">y</a>;</div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> translation_z = detection_bounding_box.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#ac7db1c7b64f050fec99b1d3bdd5f6475">z</a> - template_bounding_box.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#ac7db1c7b64f050fec99b1d3bdd5f6475">z</a>;</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160; </div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;  <span class="comment">//std::cerr &lt;&lt; &quot;translation: &quot; </span></div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;  <span class="comment">//  &lt;&lt; translation_x &lt;&lt; &quot;, &quot;</span></div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;  <span class="comment">//  &lt;&lt; translation_y &lt;&lt; &quot;, &quot;</span></div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;  <span class="comment">//  &lt;&lt; translation_z &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160; </div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> nr_points = template_point_cloud.size ();</div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (nr_points);</div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = template_point_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = template_point_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>;</div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> point_index = 0; point_index &lt; nr_points; ++point_index)</div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;  {</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a> point = template_point_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[point_index];</div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160; </div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;    point.x += translation_x;</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;    point.y += translation_y;</div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;    point.z += translation_z;</div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160; </div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;    cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[point_index] = point;</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;  }</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;}</div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160; </div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>XYZT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RGBT&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00658"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#a1c52af101442e978e0f020306ed95b5d">  658</a></span>&#160;<a class="code" href="classpcl_1_1_line_r_g_b_d.html#a1c52af101442e978e0f020306ed95b5d">pcl::LineRGBD&lt;PointXYZT, PointRGBT&gt;::refineDetectionsAlongDepth</a> ()</div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;{</div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> nr_detections = detections_.size ();</div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> detection_index = 0; detection_index &lt; nr_detections; ++detection_index)</div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;  {</div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;    <span class="keyword">typename</span> <a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html">LineRGBD&lt;PointXYZT, PointRGBT&gt;::Detection</a> &amp; detection = detections_[detection_index];</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160; </div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;    <span class="comment">// find depth with most valid points</span></div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> start_x = std::max (detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#adb3f9494ff5217fe319280ae0807fb22">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#a08cedb5e7c6d6fc6abe758a91acbb9aa">x</a>, 0);</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> start_y = std::max (detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#adb3f9494ff5217fe319280ae0807fb22">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#afade349621bae141febb8220469de8bb">y</a>, 0);</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> end_x = std::min (<span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#adb3f9494ff5217fe319280ae0807fb22">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#a08cedb5e7c6d6fc6abe758a91acbb9aa">x</a> + detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#adb3f9494ff5217fe319280ae0807fb22">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#a2040926ab029db2fb8956e8c4009f273">width</a>),</div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;                                   <span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (cloud_xyz_-&gt;width));</div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> end_y = std::min (<span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#adb3f9494ff5217fe319280ae0807fb22">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#afade349621bae141febb8220469de8bb">y</a> + detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#adb3f9494ff5217fe319280ae0807fb22">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#afd3791c009b1520b7b2b5c81faa044b8">height</a>),</div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;                                   <span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (cloud_xyz_-&gt;height));</div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160; </div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160; </div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;    <span class="keywordtype">float</span> min_depth = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;    <span class="keywordtype">float</span> max_depth = -std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = start_y; row_index &lt; end_y; ++row_index)</div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;    {</div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = start_x; col_index &lt; end_x; ++col_index)</div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;      {</div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;        <span class="keyword">const</span> PointXYZT &amp; point = (*cloud_xyz_) (col_index, row_index);</div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160; </div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;        <span class="keywordflow">if</span> (<span class="comment">/*pcl_isfinite (point.x) &amp;&amp; pcl_isfinite (point.y) &amp;&amp; */</span>pcl_isfinite (point.z))</div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;        {</div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;          min_depth = std::min (min_depth, point.z);</div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;          max_depth = std::max (max_depth, point.z);</div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;        }</div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;      }</div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;    }</div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160; </div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> nr_bins = 1000;</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> step_size = (max_depth - min_depth) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (nr_bins-1);</div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;    std::vector&lt;size_t&gt; depth_bins (nr_bins, 0);</div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = start_y; row_index &lt; end_y; ++row_index)</div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;    {</div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = start_x; col_index &lt; end_x; ++col_index)</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;      {</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;        <span class="keyword">const</span> PointXYZT &amp; point = (*cloud_xyz_) (col_index, row_index);</div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160; </div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;        <span class="keywordflow">if</span> (<span class="comment">/*pcl_isfinite (point.x) &amp;&amp; pcl_isfinite (point.y) &amp;&amp; */</span>pcl_isfinite (point.z))</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;        {</div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">size_t</span> bin_index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> ((point.z - min_depth) / step_size);</div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;          ++depth_bins[bin_index];</div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;        }</div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;      }</div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;    }</div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160; </div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;    std::vector&lt;size_t&gt; integral_depth_bins (nr_bins, 0);</div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;    </div>
<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;    integral_depth_bins[0] = depth_bins[0];</div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> bin_index = 1; bin_index &lt; nr_bins; ++bin_index)</div>
<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;    {</div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;      integral_depth_bins[bin_index] = depth_bins[bin_index] + integral_depth_bins[bin_index-1];</div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;    }</div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160; </div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> bb_depth_range = <span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">bounding_box</a>.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a79e978c9e7351c0f01a4c2075364568c">depth</a> / step_size);</div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160; </div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;    <span class="keywordtype">size_t</span> max_nr_points = 0;</div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;    <span class="keywordtype">size_t</span> max_index = 0;</div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> bin_index = 0; (bin_index+bb_depth_range) &lt; nr_bins; ++bin_index)</div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;    {</div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">size_t</span> nr_points_in_range = integral_depth_bins[bin_index+bb_depth_range] - integral_depth_bins[bin_index];</div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160; </div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;      <span class="keywordflow">if</span> (nr_points_in_range &gt; max_nr_points)</div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;      {</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;        max_nr_points = nr_points_in_range;</div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;        max_index = bin_index;</div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;      }</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;    }</div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160; </div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (max_index) * step_size + min_depth;</div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160; </div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">bounding_box</a>.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#ac7db1c7b64f050fec99b1d3bdd5f6475">z</a> = z;</div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;  }</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;}</div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160; </div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>XYZT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RGBT&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00738"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#a276ccfd0f7ac632f77d49ecc8caff121">  738</a></span>&#160;<a class="code" href="classpcl_1_1_line_r_g_b_d.html#a276ccfd0f7ac632f77d49ecc8caff121">pcl::LineRGBD&lt;PointXYZT, PointRGBT&gt;::applyProjectiveDepthICPOnDetections</a> ()</div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;{</div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> nr_detections = detections_.size ();</div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> detection_index = 0; detection_index &lt; nr_detections; ++detection_index)</div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;  {</div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;    <span class="keyword">typename</span> <a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html">pcl::LineRGBD&lt;PointXYZT, PointRGBT&gt;::Detection</a> &amp; detection = detections_[detection_index];</div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160; </div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> template_id = detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#aa4ba79365eacaca53febd469b2c7cb95">template_id</a>;</div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;    <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;</a> &amp; point_cloud = template_point_clouds_[template_id];</div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160; </div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> start_x = detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#adb3f9494ff5217fe319280ae0807fb22">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#a08cedb5e7c6d6fc6abe758a91acbb9aa">x</a>;</div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> start_y = detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#adb3f9494ff5217fe319280ae0807fb22">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#afade349621bae141febb8220469de8bb">y</a>;</div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> pc_width = point_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> pc_height = point_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>;</div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;    </div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;    std::vector&lt;std::pair&lt;float, float&gt; &gt; depth_matches;</div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = 0; row_index &lt; pc_height; ++row_index)</div>
<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;    {</div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = 0; col_index &lt; pc_width; ++col_index)</div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;      {</div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a> &amp; point_template = point_cloud (col_index, row_index);</div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;        <span class="keyword">const</span> PointXYZT &amp; point_input = (*cloud_xyz_) (col_index + start_x, row_index + start_y);</div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160; </div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;        <span class="keywordflow">if</span> (!pcl_isfinite (point_template.z) || !pcl_isfinite (point_input.z))</div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160; </div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;        depth_matches.push_back (std::make_pair (point_template.z, point_input.z));</div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;      }</div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;    }</div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160; </div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;    <span class="comment">// apply ransac on matches</span></div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> nr_matches = depth_matches.size ();</div>
<div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> nr_iterations = 100; <span class="comment">// todo: should be a parameter...</span></div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> inlier_threshold = 0.01f; <span class="comment">// 5cm // todo: should be a parameter...</span></div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;    <span class="keywordtype">size_t</span> best_nr_inliers = 0;</div>
<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;    <span class="keywordtype">float</span> best_z_translation = 0.0f;</div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> iteration_index = 0; iteration_index &lt; nr_iterations; ++iteration_index)</div>
<div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;    {</div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">size_t</span> rand_index = (rand () * nr_matches) / RAND_MAX;</div>
<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160; </div>
<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> z_translation = depth_matches[rand_index].second - depth_matches[rand_index].first;</div>
<div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160; </div>
<div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;      <span class="keywordtype">size_t</span> nr_inliers = 0;</div>
<div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> match_index = 0; match_index &lt; nr_matches; ++match_index)</div>
<div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;      {</div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> error = fabsf (depth_matches[match_index].first + z_translation - depth_matches[match_index].second);</div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160; </div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;        <span class="keywordflow">if</span> (error &lt;= inlier_threshold)</div>
<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;        {</div>
<div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;          ++nr_inliers;</div>
<div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;        }</div>
<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;      }</div>
<div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160; </div>
<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;      <span class="keywordflow">if</span> (nr_inliers &gt; best_nr_inliers)</div>
<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;      {</div>
<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;        best_nr_inliers = nr_inliers;</div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;        best_z_translation = z_translation;</div>
<div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;      }</div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;    }</div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160; </div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;    <span class="keywordtype">float</span> average_depth = 0.0f;</div>
<div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;    <span class="keywordtype">size_t</span> average_counter = 0;</div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> match_index = 0; match_index &lt; nr_matches; ++match_index)</div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;    {</div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> error = fabsf (depth_matches[match_index].first + best_z_translation - depth_matches[match_index].second);</div>
<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160; </div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;      <span class="keywordflow">if</span> (error &lt;= inlier_threshold)</div>
<div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160;      {</div>
<div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;        <span class="comment">//average_depth += depth_matches[match_index].second;</span></div>
<div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;        average_depth += depth_matches[match_index].second - depth_matches[match_index].first;</div>
<div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160;        ++average_counter;</div>
<div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;      }</div>
<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;    }</div>
<div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;    average_depth /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (average_counter);</div>
<div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160; </div>
<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">bounding_box</a>.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#ac7db1c7b64f050fec99b1d3bdd5f6475">z</a> = bounding_boxes_[template_id].z + average_depth;<span class="comment">// - detection.bounding_box.depth/2.0f;</span></div>
<div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160;  }</div>
<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;}</div>
<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160; </div>
<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>XYZT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RGBT&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00819"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#a9f5c97369811385a26856692d8422e90">  819</a></span>&#160;<a class="code" href="classpcl_1_1_line_r_g_b_d.html#a9f5c97369811385a26856692d8422e90">pcl::LineRGBD&lt;PointXYZT, PointRGBT&gt;::removeOverlappingDetections</a> ()</div>
<div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;{</div>
<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;  <span class="comment">// compute overlap between each detection</span></div>
<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> nr_detections = detections_.size ();</div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;  Eigen::MatrixXf overlaps (nr_detections, nr_detections);</div>
<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> detection_index_1 = 0; detection_index_1 &lt; nr_detections; ++detection_index_1)</div>
<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;  {</div>
<div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> detection_index_2 = detection_index_1+1; detection_index_2 &lt; nr_detections; ++detection_index_2)</div>
<div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;    {</div>
<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> bounding_box_volume = detections_[detection_index_1].bounding_box.width</div>
<div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160;                                      * detections_[detection_index_1].bounding_box.height</div>
<div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;                                      * detections_[detection_index_1].bounding_box.depth;</div>
<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160; </div>
<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;      <span class="keywordflow">if</span> (detections_[detection_index_1].object_id != detections_[detection_index_2].object_id)</div>
<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;        overlaps (detection_index_1, detection_index_2) = 0.0f;</div>
<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;        overlaps (detection_index_1, detection_index_2) = computeBoundingBoxIntersectionVolume (</div>
<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;          detections_[detection_index_1].bounding_box, </div>
<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;          detections_[detection_index_2].bounding_box) / bounding_box_volume;</div>
<div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;    }</div>
<div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160;  }</div>
<div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160; </div>
<div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160;  <span class="comment">// create clusters of detections</span></div>
<div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160;  std::vector&lt;int&gt; detection_to_cluster_mapping (nr_detections, -1);</div>
<div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160;  std::vector&lt;std::vector&lt;size_t&gt; &gt; clusters;</div>
<div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> detection_index = 0; detection_index &lt; nr_detections; ++detection_index)</div>
<div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160;  {</div>
<div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160;    <span class="keywordflow">if</span> (detection_to_cluster_mapping[detection_index] != -1)</div>
<div class="line"><a name="l00847"></a><span class="lineno">  847</span>&#160;      <span class="keywordflow">continue</span>; <span class="comment">// already part of a cluster</span></div>
<div class="line"><a name="l00848"></a><span class="lineno">  848</span>&#160; </div>
<div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160;    std::vector&lt;size_t&gt; cluster;</div>
<div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> cluster_id = clusters.size ();</div>
<div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160; </div>
<div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160;    cluster.push_back (detection_index);</div>
<div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160;    detection_to_cluster_mapping[detection_index] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cluster_id);</div>
<div class="line"><a name="l00854"></a><span class="lineno">  854</span>&#160; </div>
<div class="line"><a name="l00855"></a><span class="lineno">  855</span>&#160;    <span class="comment">// check for detections which have sufficient overlap with a detection in the cluster</span></div>
<div class="line"><a name="l00856"></a><span class="lineno">  856</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> cluster_index = 0; cluster_index &lt; cluster.size (); ++cluster_index)</div>
<div class="line"><a name="l00857"></a><span class="lineno">  857</span>&#160;    {</div>
<div class="line"><a name="l00858"></a><span class="lineno">  858</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">size_t</span> detection_index_1 = cluster[cluster_index];</div>
<div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160; </div>
<div class="line"><a name="l00860"></a><span class="lineno">  860</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> detection_index_2 = detection_index_1+1; detection_index_2 &lt; nr_detections; ++detection_index_2)</div>
<div class="line"><a name="l00861"></a><span class="lineno">  861</span>&#160;      {</div>
<div class="line"><a name="l00862"></a><span class="lineno">  862</span>&#160;        <span class="keywordflow">if</span> (detection_to_cluster_mapping[detection_index_2] != -1)</div>
<div class="line"><a name="l00863"></a><span class="lineno">  863</span>&#160;          <span class="keywordflow">continue</span>; <span class="comment">// already part of a cluster</span></div>
<div class="line"><a name="l00864"></a><span class="lineno">  864</span>&#160; </div>
<div class="line"><a name="l00865"></a><span class="lineno">  865</span>&#160;        <span class="keywordflow">if</span> (overlaps (detection_index_1, detection_index_2) &lt; intersection_volume_threshold_)</div>
<div class="line"><a name="l00866"></a><span class="lineno">  866</span>&#160;          <span class="keywordflow">continue</span>; <span class="comment">// not enough overlap</span></div>
<div class="line"><a name="l00867"></a><span class="lineno">  867</span>&#160; </div>
<div class="line"><a name="l00868"></a><span class="lineno">  868</span>&#160;        cluster.push_back (detection_index_2);</div>
<div class="line"><a name="l00869"></a><span class="lineno">  869</span>&#160;        detection_to_cluster_mapping[detection_index_2] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cluster_id);</div>
<div class="line"><a name="l00870"></a><span class="lineno">  870</span>&#160;      }</div>
<div class="line"><a name="l00871"></a><span class="lineno">  871</span>&#160;    }</div>
<div class="line"><a name="l00872"></a><span class="lineno">  872</span>&#160; </div>
<div class="line"><a name="l00873"></a><span class="lineno">  873</span>&#160;    clusters.push_back (cluster);</div>
<div class="line"><a name="l00874"></a><span class="lineno">  874</span>&#160;  }</div>
<div class="line"><a name="l00875"></a><span class="lineno">  875</span>&#160; </div>
<div class="line"><a name="l00876"></a><span class="lineno">  876</span>&#160;  <span class="comment">// compute detection representatives for every cluster</span></div>
<div class="line"><a name="l00877"></a><span class="lineno">  877</span>&#160;  std::vector&lt;typename LineRGBD&lt;PointXYZT, PointRGBT&gt;::Detection&gt; clustered_detections;</div>
<div class="line"><a name="l00878"></a><span class="lineno">  878</span>&#160; </div>
<div class="line"><a name="l00879"></a><span class="lineno">  879</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> nr_clusters = clusters.size ();</div>
<div class="line"><a name="l00880"></a><span class="lineno">  880</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> cluster_id = 0; cluster_id &lt; nr_clusters; ++cluster_id)</div>
<div class="line"><a name="l00881"></a><span class="lineno">  881</span>&#160;  {</div>
<div class="line"><a name="l00882"></a><span class="lineno">  882</span>&#160;    std::vector&lt;size_t&gt; &amp; cluster = clusters[cluster_id];</div>
<div class="line"><a name="l00883"></a><span class="lineno">  883</span>&#160;    </div>
<div class="line"><a name="l00884"></a><span class="lineno">  884</span>&#160;    <span class="keywordtype">float</span> average_center_x = 0.0f;</div>
<div class="line"><a name="l00885"></a><span class="lineno">  885</span>&#160;    <span class="keywordtype">float</span> average_center_y = 0.0f;</div>
<div class="line"><a name="l00886"></a><span class="lineno">  886</span>&#160;    <span class="keywordtype">float</span> average_center_z = 0.0f;</div>
<div class="line"><a name="l00887"></a><span class="lineno">  887</span>&#160;    <span class="keywordtype">float</span> weight_sum = 0.0f;</div>
<div class="line"><a name="l00888"></a><span class="lineno">  888</span>&#160; </div>
<div class="line"><a name="l00889"></a><span class="lineno">  889</span>&#160;    <span class="keywordtype">float</span> best_response = 0.0f;</div>
<div class="line"><a name="l00890"></a><span class="lineno">  890</span>&#160;    <span class="keywordtype">size_t</span> best_detection_id = 0;</div>
<div class="line"><a name="l00891"></a><span class="lineno">  891</span>&#160; </div>
<div class="line"><a name="l00892"></a><span class="lineno">  892</span>&#160;    <span class="keywordtype">float</span> average_region_x = 0.0f;</div>
<div class="line"><a name="l00893"></a><span class="lineno">  893</span>&#160;    <span class="keywordtype">float</span> average_region_y = 0.0f;</div>
<div class="line"><a name="l00894"></a><span class="lineno">  894</span>&#160; </div>
<div class="line"><a name="l00895"></a><span class="lineno">  895</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">size_t</span> elements_in_cluster = cluster.size ();</div>
<div class="line"><a name="l00896"></a><span class="lineno">  896</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> cluster_index = 0; cluster_index &lt; elements_in_cluster; ++cluster_index)</div>
<div class="line"><a name="l00897"></a><span class="lineno">  897</span>&#160;    {</div>
<div class="line"><a name="l00898"></a><span class="lineno">  898</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">size_t</span> detection_id = cluster[cluster_index];</div>
<div class="line"><a name="l00899"></a><span class="lineno">  899</span>&#160; </div>
<div class="line"><a name="l00900"></a><span class="lineno">  900</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> weight = detections_[detection_id].response;</div>
<div class="line"><a name="l00901"></a><span class="lineno">  901</span>&#160; </div>
<div class="line"><a name="l00902"></a><span class="lineno">  902</span>&#160;      <span class="keywordflow">if</span> (weight &gt; best_response)</div>
<div class="line"><a name="l00903"></a><span class="lineno">  903</span>&#160;      {</div>
<div class="line"><a name="l00904"></a><span class="lineno">  904</span>&#160;        best_response = weight;</div>
<div class="line"><a name="l00905"></a><span class="lineno">  905</span>&#160;        best_detection_id = detection_id;</div>
<div class="line"><a name="l00906"></a><span class="lineno">  906</span>&#160;      }</div>
<div class="line"><a name="l00907"></a><span class="lineno">  907</span>&#160; </div>
<div class="line"><a name="l00908"></a><span class="lineno">  908</span>&#160;      <span class="keyword">const</span> <a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html">Detection</a> &amp; d = detections_[detection_id];</div>
<div class="line"><a name="l00909"></a><span class="lineno">  909</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> p_center_x = d.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">bounding_box</a>.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a16450ce18154338681e032904c423f99">x</a> + d.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">bounding_box</a>.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a115c7432f8c381c53ab4575226c57a9c">width</a> / 2.0f;</div>
<div class="line"><a name="l00910"></a><span class="lineno">  910</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> p_center_y = d.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">bounding_box</a>.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a74fecaefd54b5d549abee0806cc76f98">y</a> + d.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">bounding_box</a>.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#af330b68c9dde00c92e5a518655dfcac6">height</a> / 2.0f;</div>
<div class="line"><a name="l00911"></a><span class="lineno">  911</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> p_center_z = d.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">bounding_box</a>.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#ac7db1c7b64f050fec99b1d3bdd5f6475">z</a> + d.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">bounding_box</a>.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a79e978c9e7351c0f01a4c2075364568c">depth</a> / 2.0f;</div>
<div class="line"><a name="l00912"></a><span class="lineno">  912</span>&#160; </div>
<div class="line"><a name="l00913"></a><span class="lineno">  913</span>&#160;      average_center_x += p_center_x * weight;</div>
<div class="line"><a name="l00914"></a><span class="lineno">  914</span>&#160;      average_center_y += p_center_y * weight;</div>
<div class="line"><a name="l00915"></a><span class="lineno">  915</span>&#160;      average_center_z += p_center_z * weight;</div>
<div class="line"><a name="l00916"></a><span class="lineno">  916</span>&#160;      weight_sum += weight;</div>
<div class="line"><a name="l00917"></a><span class="lineno">  917</span>&#160; </div>
<div class="line"><a name="l00918"></a><span class="lineno">  918</span>&#160;      average_region_x += float (detections_[detection_id].region.x) * weight;</div>
<div class="line"><a name="l00919"></a><span class="lineno">  919</span>&#160;      average_region_y += float (detections_[detection_id].region.y) * weight;</div>
<div class="line"><a name="l00920"></a><span class="lineno">  920</span>&#160;    }</div>
<div class="line"><a name="l00921"></a><span class="lineno">  921</span>&#160; </div>
<div class="line"><a name="l00922"></a><span class="lineno">  922</span>&#160;    <span class="keyword">typename</span> <a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html">LineRGBD&lt;PointXYZT, PointRGBT&gt;::Detection</a> detection;</div>
<div class="line"><a name="l00923"></a><span class="lineno">  923</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#aa4ba79365eacaca53febd469b2c7cb95">template_id</a> = detections_[best_detection_id].template_id;</div>
<div class="line"><a name="l00924"></a><span class="lineno">  924</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a371bf3ae5d566bf5bced79f137dee7e6">object_id</a> = detections_[best_detection_id].object_id;</div>
<div class="line"><a name="l00925"></a><span class="lineno">  925</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a3f6202bca884484b2ef7a9ca0edd2bbc">detection_id</a> = cluster_id;</div>
<div class="line"><a name="l00926"></a><span class="lineno">  926</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#ab480cd05d1d41fd906de543a3b5276cc">response</a> = best_response;</div>
<div class="line"><a name="l00927"></a><span class="lineno">  927</span>&#160; </div>
<div class="line"><a name="l00928"></a><span class="lineno">  928</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> inv_weight_sum = 1.0f / weight_sum;</div>
<div class="line"><a name="l00929"></a><span class="lineno">  929</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> best_detection_bb_width  = detections_[best_detection_id].bounding_box.width;</div>
<div class="line"><a name="l00930"></a><span class="lineno">  930</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> best_detection_bb_height = detections_[best_detection_id].bounding_box.height;</div>
<div class="line"><a name="l00931"></a><span class="lineno">  931</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> best_detection_bb_depth  = detections_[best_detection_id].bounding_box.depth;</div>
<div class="line"><a name="l00932"></a><span class="lineno">  932</span>&#160; </div>
<div class="line"><a name="l00933"></a><span class="lineno">  933</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">bounding_box</a>.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a16450ce18154338681e032904c423f99">x</a> = average_center_x * inv_weight_sum - best_detection_bb_width/2.0f;</div>
<div class="line"><a name="l00934"></a><span class="lineno">  934</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">bounding_box</a>.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a74fecaefd54b5d549abee0806cc76f98">y</a> = average_center_y * inv_weight_sum - best_detection_bb_height/2.0f;</div>
<div class="line"><a name="l00935"></a><span class="lineno">  935</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">bounding_box</a>.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#ac7db1c7b64f050fec99b1d3bdd5f6475">z</a> = average_center_z * inv_weight_sum - best_detection_bb_depth/2.0f;</div>
<div class="line"><a name="l00936"></a><span class="lineno">  936</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">bounding_box</a>.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a115c7432f8c381c53ab4575226c57a9c">width</a>  = best_detection_bb_width;</div>
<div class="line"><a name="l00937"></a><span class="lineno">  937</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">bounding_box</a>.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#af330b68c9dde00c92e5a518655dfcac6">height</a> = best_detection_bb_height;</div>
<div class="line"><a name="l00938"></a><span class="lineno">  938</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">bounding_box</a>.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a79e978c9e7351c0f01a4c2075364568c">depth</a>  = best_detection_bb_depth;</div>
<div class="line"><a name="l00939"></a><span class="lineno">  939</span>&#160; </div>
<div class="line"><a name="l00940"></a><span class="lineno">  940</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#adb3f9494ff5217fe319280ae0807fb22">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#a08cedb5e7c6d6fc6abe758a91acbb9aa">x</a> = int (average_region_x * inv_weight_sum);</div>
<div class="line"><a name="l00941"></a><span class="lineno">  941</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#adb3f9494ff5217fe319280ae0807fb22">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#afade349621bae141febb8220469de8bb">y</a> = int (average_region_y * inv_weight_sum);</div>
<div class="line"><a name="l00942"></a><span class="lineno">  942</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#adb3f9494ff5217fe319280ae0807fb22">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#a2040926ab029db2fb8956e8c4009f273">width</a> = detections_[best_detection_id].region.width;</div>
<div class="line"><a name="l00943"></a><span class="lineno">  943</span>&#160;    detection.<a class="code" href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#adb3f9494ff5217fe319280ae0807fb22">region</a>.<a class="code" href="structpcl_1_1_region_x_y.html#afd3791c009b1520b7b2b5c81faa044b8">height</a> = detections_[best_detection_id].region.height;</div>
<div class="line"><a name="l00944"></a><span class="lineno">  944</span>&#160; </div>
<div class="line"><a name="l00945"></a><span class="lineno">  945</span>&#160;    clustered_detections.push_back (detection);</div>
<div class="line"><a name="l00946"></a><span class="lineno">  946</span>&#160;  }</div>
<div class="line"><a name="l00947"></a><span class="lineno">  947</span>&#160; </div>
<div class="line"><a name="l00948"></a><span class="lineno">  948</span>&#160;  detections_ = clustered_detections;</div>
<div class="line"><a name="l00949"></a><span class="lineno">  949</span>&#160;}</div>
<div class="line"><a name="l00950"></a><span class="lineno">  950</span>&#160; </div>
<div class="line"><a name="l00952"></a><span class="lineno">  952</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>XYZT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>RGBT&gt; <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00953"></a><span class="lineno"><a class="line" href="classpcl_1_1_line_r_g_b_d.html#a831d13aadaef7d895154c4c1f5747d23">  953</a></span>&#160;<a class="code" href="classpcl_1_1_line_r_g_b_d.html#a831d13aadaef7d895154c4c1f5747d23">pcl::LineRGBD&lt;PointXYZT, PointRGBT&gt;::computeBoundingBoxIntersectionVolume</a> (</div>
<div class="line"><a name="l00954"></a><span class="lineno">  954</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html">BoundingBoxXYZ</a> &amp;box1, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_bounding_box_x_y_z.html">BoundingBoxXYZ</a> &amp;box2)</div>
<div class="line"><a name="l00955"></a><span class="lineno">  955</span>&#160;{</div>
<div class="line"><a name="l00956"></a><span class="lineno">  956</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> x1_min = box1.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a16450ce18154338681e032904c423f99">x</a>;</div>
<div class="line"><a name="l00957"></a><span class="lineno">  957</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> y1_min = box1.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a74fecaefd54b5d549abee0806cc76f98">y</a>;</div>
<div class="line"><a name="l00958"></a><span class="lineno">  958</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> z1_min = box1.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#ac7db1c7b64f050fec99b1d3bdd5f6475">z</a>;</div>
<div class="line"><a name="l00959"></a><span class="lineno">  959</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> x1_max = box1.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a16450ce18154338681e032904c423f99">x</a> + box1.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a115c7432f8c381c53ab4575226c57a9c">width</a>;</div>
<div class="line"><a name="l00960"></a><span class="lineno">  960</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> y1_max = box1.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a74fecaefd54b5d549abee0806cc76f98">y</a> + box1.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#af330b68c9dde00c92e5a518655dfcac6">height</a>;</div>
<div class="line"><a name="l00961"></a><span class="lineno">  961</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> z1_max = box1.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#ac7db1c7b64f050fec99b1d3bdd5f6475">z</a> + box1.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a79e978c9e7351c0f01a4c2075364568c">depth</a>;</div>
<div class="line"><a name="l00962"></a><span class="lineno">  962</span>&#160; </div>
<div class="line"><a name="l00963"></a><span class="lineno">  963</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> x2_min = box2.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a16450ce18154338681e032904c423f99">x</a>;</div>
<div class="line"><a name="l00964"></a><span class="lineno">  964</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> y2_min = box2.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a74fecaefd54b5d549abee0806cc76f98">y</a>;</div>
<div class="line"><a name="l00965"></a><span class="lineno">  965</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> z2_min = box2.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#ac7db1c7b64f050fec99b1d3bdd5f6475">z</a>;</div>
<div class="line"><a name="l00966"></a><span class="lineno">  966</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> x2_max = box2.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a16450ce18154338681e032904c423f99">x</a> + box2.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a115c7432f8c381c53ab4575226c57a9c">width</a>;</div>
<div class="line"><a name="l00967"></a><span class="lineno">  967</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> y2_max = box2.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a74fecaefd54b5d549abee0806cc76f98">y</a> + box2.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#af330b68c9dde00c92e5a518655dfcac6">height</a>;</div>
<div class="line"><a name="l00968"></a><span class="lineno">  968</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> z2_max = box2.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#ac7db1c7b64f050fec99b1d3bdd5f6475">z</a> + box2.<a class="code" href="structpcl_1_1_bounding_box_x_y_z.html#a79e978c9e7351c0f01a4c2075364568c">depth</a>;</div>
<div class="line"><a name="l00969"></a><span class="lineno">  969</span>&#160;  </div>
<div class="line"><a name="l00970"></a><span class="lineno">  970</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> xi_min = std::max (x1_min, x2_min);</div>
<div class="line"><a name="l00971"></a><span class="lineno">  971</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> yi_min = std::max (y1_min, y2_min);</div>
<div class="line"><a name="l00972"></a><span class="lineno">  972</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> zi_min = std::max (z1_min, z2_min);</div>
<div class="line"><a name="l00973"></a><span class="lineno">  973</span>&#160; </div>
<div class="line"><a name="l00974"></a><span class="lineno">  974</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> xi_max = std::min (x1_max, x2_max);</div>
<div class="line"><a name="l00975"></a><span class="lineno">  975</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> yi_max = std::min (y1_max, y2_max);</div>
<div class="line"><a name="l00976"></a><span class="lineno">  976</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> zi_max = std::min (z1_max, z2_max);</div>
<div class="line"><a name="l00977"></a><span class="lineno">  977</span>&#160; </div>
<div class="line"><a name="l00978"></a><span class="lineno">  978</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> intersection_width  = xi_max - xi_min;</div>
<div class="line"><a name="l00979"></a><span class="lineno">  979</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> intersection_height = yi_max - yi_min;</div>
<div class="line"><a name="l00980"></a><span class="lineno">  980</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> intersection_depth  = zi_max - zi_min;</div>
<div class="line"><a name="l00981"></a><span class="lineno">  981</span>&#160; </div>
<div class="line"><a name="l00982"></a><span class="lineno">  982</span>&#160;  <span class="keywordflow">if</span> (intersection_width &lt;= 0.0f || intersection_height &lt;= 0.0f || intersection_depth &lt;= 0.0f)</div>
<div class="line"><a name="l00983"></a><span class="lineno">  983</span>&#160;    <span class="keywordflow">return</span> 0.0f;</div>
<div class="line"><a name="l00984"></a><span class="lineno">  984</span>&#160; </div>
<div class="line"><a name="l00985"></a><span class="lineno">  985</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> intersection_volume = intersection_width * intersection_height * intersection_depth;</div>
<div class="line"><a name="l00986"></a><span class="lineno">  986</span>&#160; </div>
<div class="line"><a name="l00987"></a><span class="lineno">  987</span>&#160;  <span class="keywordflow">return</span> (intersection_volume);</div>
<div class="line"><a name="l00988"></a><span class="lineno">  988</span>&#160;}</div>
<div class="line"><a name="l00989"></a><span class="lineno">  989</span>&#160; </div>
<div class="line"><a name="l00990"></a><span class="lineno">  990</span>&#160; </div>
<div class="line"><a name="l00991"></a><span class="lineno">  991</span>&#160;<span class="preprocessor">#endif        </span><span class="comment">// PCL_RECOGNITION_LINEMOD_LINE_RGBD_IMPL_HPP_ </span></div>
<div class="line"><a name="l00992"></a><span class="lineno">  992</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html">pcl::LineRGBD</a></div><div class="ttdoc">High-level class for template matching using the LINEMOD approach based on RGB and Depth data.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:74</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_a04e2c0b8243551b559a9b78f90a8af31"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#a04e2c0b8243551b559a9b78f90a8af31">pcl::LineRGBD::detect</a></div><div class="ttdeci">void detect(std::vector&lt; typename pcl::LineRGBD&lt; PointXYZT, PointRGBT &gt;::Detection &gt; &amp;detections)</div><div class="ttdoc">Applies the detection process and fills the supplied vector with the detection instances.</div><div class="ttdef"><b>Definition:</b> line_rgbd.hpp:412</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_a158f133218ce2923d2bc56572b9a7f95"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#a158f133218ce2923d2bc56572b9a7f95">pcl::LineRGBD::detectSemiScaleInvariant</a></div><div class="ttdeci">void detectSemiScaleInvariant(std::vector&lt; typename pcl::LineRGBD&lt; PointXYZT, PointRGBT &gt;::Detection &gt; &amp;detections, float min_scale=0.6944444f, float max_scale=1.44f, float scale_multiplier=1.2f)</div><div class="ttdoc">Applies the detection process in a semi-scale-invariant manner. This is done by acutally scaling the ...</div><div class="ttdef"><b>Definition:</b> line_rgbd.hpp:510</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_a1c52af101442e978e0f020306ed95b5d"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#a1c52af101442e978e0f020306ed95b5d">pcl::LineRGBD::refineDetectionsAlongDepth</a></div><div class="ttdeci">void refineDetectionsAlongDepth()</div><div class="ttdoc">Refines the found detections along the depth.</div><div class="ttdef"><b>Definition:</b> line_rgbd.hpp:658</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_a276ccfd0f7ac632f77d49ecc8caff121"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#a276ccfd0f7ac632f77d49ecc8caff121">pcl::LineRGBD::applyProjectiveDepthICPOnDetections</a></div><div class="ttdeci">void applyProjectiveDepthICPOnDetections()</div><div class="ttdoc">Applies projective ICP on detections to find their correct position in depth.</div><div class="ttdef"><b>Definition:</b> line_rgbd.hpp:738</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_a43299ced101ae893d58a46ad3196f78e"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#a43299ced101ae893d58a46ad3196f78e">pcl::LineRGBD::loadTemplates</a></div><div class="ttdeci">bool loadTemplates(const std::string &amp;file_name, size_t object_id=0)</div><div class="ttdoc">Loads templates from a LMT (LineMod Template) file. Overrides old templates.</div><div class="ttdef"><b>Definition:</b> line_rgbd.hpp:87</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_a831d13aadaef7d895154c4c1f5747d23"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#a831d13aadaef7d895154c4c1f5747d23">pcl::LineRGBD::computeBoundingBoxIntersectionVolume</a></div><div class="ttdeci">static float computeBoundingBoxIntersectionVolume(const BoundingBoxXYZ &amp;box1, const BoundingBoxXYZ &amp;box2)</div><div class="ttdoc">Computes the volume of the intersection between two bounding boxes.</div><div class="ttdef"><b>Definition:</b> line_rgbd.hpp:953</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_a94b082a85ebcb7893a4e3afbf25a041a"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#a94b082a85ebcb7893a4e3afbf25a041a">pcl::LineRGBD::createAndAddTemplate</a></div><div class="ttdeci">int createAndAddTemplate(pcl::PointCloud&lt; pcl::PointXYZRGBA &gt; &amp;cloud, const size_t object_id, const MaskMap &amp;mask_xyz, const MaskMap &amp;mask_rgb, const RegionXY &amp;region)</div><div class="ttdoc">Creates a template from the specified data and adds it to the matching queue.</div><div class="ttdef"><b>Definition:</b> line_rgbd.hpp:233</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_a9f5c97369811385a26856692d8422e90"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#a9f5c97369811385a26856692d8422e90">pcl::LineRGBD::removeOverlappingDetections</a></div><div class="ttdeci">void removeOverlappingDetections()</div><div class="ttdoc">Checks for overlapping detections, removes them and keeps only the strongest one.</div><div class="ttdef"><b>Definition:</b> line_rgbd.hpp:819</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_ad5aad0f7531ada96716df263851fd991"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#ad5aad0f7531ada96716df263851fd991">pcl::LineRGBD::computeTransformedTemplatePoints</a></div><div class="ttdeci">void computeTransformedTemplatePoints(const size_t detection_id, pcl::PointCloud&lt; pcl::PointXYZRGBA &gt; &amp;cloud)</div><div class="ttdoc">Computes and returns the point cloud of the specified detection. This is the template point cloud tra...</div><div class="ttdef"><b>Definition:</b> line_rgbd.hpp:611</div></div>
<div class="ttc" id="aclasspcl_1_1_line_r_g_b_d_html_af17a00e4b06f54824d2cd0d451c9b2d1"><div class="ttname"><a href="classpcl_1_1_line_r_g_b_d.html#af17a00e4b06f54824d2cd0d451c9b2d1">pcl::LineRGBD::readLTMHeader</a></div><div class="ttdeci">bool readLTMHeader(int fd, pcl::io::TARHeader &amp;header)</div><div class="ttdoc">Read another LTM header chunk.</div><div class="ttdef"><b>Definition:</b> line_rgbd.hpp:62</div></div>
<div class="ttc" id="aclasspcl_1_1_mask_map_html"><div class="ttname"><a href="classpcl_1_1_mask_map.html">pcl::MaskMap</a></div><div class="ttdef"><b>Definition:</b> mask_map.h:48</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_reader_html"><div class="ttname"><a href="classpcl_1_1_p_c_d_reader.html">pcl::PCDReader</a></div><div class="ttdoc">Point Cloud Data (PCD) file format reader.</div><div class="ttdef"><b>Definition:</b> pcd_io.h:53</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_reader_html_a21f154e8ce3f4d5e905ecaa395935c42"><div class="ttname"><a href="classpcl_1_1_p_c_d_reader.html#a21f154e8ce3f4d5e905ecaa395935c42">pcl::PCDReader::read</a></div><div class="ttdeci">int read(const std::string &amp;file_name, pcl::PCLPointCloud2 &amp;cloud, Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation, int &amp;pcd_version, const int offset=0)</div><div class="ttdoc">Read a point cloud data from a PCD file and store it into a pcl/PCLPointCloud2.</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointXYZRGBA &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2d60b6927b31ef89cd3b97e8173ea4aa"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">pcl::PointCloud::resize</a></div><div class="ttdeci">void resize(size_t n)</div><div class="ttdoc">Resize the cloud</div><div class="ttdef"><b>Definition:</b> point_cloud.h:455</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="agroup__common_html_gaa65b1c8d782e7b776ae682679d2d948f"><div class="ttname"><a href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a></div><div class="ttdeci">PCL_EXPORTS void copyPointCloud(const pcl::PCLPointCloud2 &amp;cloud_in, const std::vector&lt; int &gt; &amp;indices, pcl::PCLPointCloud2 &amp;cloud_out)</div><div class="ttdoc">Extract the indices of a given point cloud as a new point cloud</div></div>
<div class="ttc" id="astructpcl_1_1_bounding_box_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_bounding_box_x_y_z.html">pcl::BoundingBoxXYZ</a></div><div class="ttdef"><b>Definition:</b> line_rgbd.h:50</div></div>
<div class="ttc" id="astructpcl_1_1_bounding_box_x_y_z_html_a115c7432f8c381c53ab4575226c57a9c"><div class="ttname"><a href="structpcl_1_1_bounding_box_x_y_z.html#a115c7432f8c381c53ab4575226c57a9c">pcl::BoundingBoxXYZ::width</a></div><div class="ttdeci">float width</div><div class="ttdoc">Width of the bounding box</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:62</div></div>
<div class="ttc" id="astructpcl_1_1_bounding_box_x_y_z_html_a16450ce18154338681e032904c423f99"><div class="ttname"><a href="structpcl_1_1_bounding_box_x_y_z.html#a16450ce18154338681e032904c423f99">pcl::BoundingBoxXYZ::x</a></div><div class="ttdeci">float x</div><div class="ttdoc">X-coordinate of the upper left front point</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:55</div></div>
<div class="ttc" id="astructpcl_1_1_bounding_box_x_y_z_html_a74fecaefd54b5d549abee0806cc76f98"><div class="ttname"><a href="structpcl_1_1_bounding_box_x_y_z.html#a74fecaefd54b5d549abee0806cc76f98">pcl::BoundingBoxXYZ::y</a></div><div class="ttdeci">float y</div><div class="ttdoc">Y-coordinate of the upper left front point</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:57</div></div>
<div class="ttc" id="astructpcl_1_1_bounding_box_x_y_z_html_a79e978c9e7351c0f01a4c2075364568c"><div class="ttname"><a href="structpcl_1_1_bounding_box_x_y_z.html#a79e978c9e7351c0f01a4c2075364568c">pcl::BoundingBoxXYZ::depth</a></div><div class="ttdeci">float depth</div><div class="ttdoc">Depth of the bounding box</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:66</div></div>
<div class="ttc" id="astructpcl_1_1_bounding_box_x_y_z_html_ac7db1c7b64f050fec99b1d3bdd5f6475"><div class="ttname"><a href="structpcl_1_1_bounding_box_x_y_z.html#ac7db1c7b64f050fec99b1d3bdd5f6475">pcl::BoundingBoxXYZ::z</a></div><div class="ttdeci">float z</div><div class="ttdoc">Z-coordinate of the upper left front point</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:59</div></div>
<div class="ttc" id="astructpcl_1_1_bounding_box_x_y_z_html_af330b68c9dde00c92e5a518655dfcac6"><div class="ttname"><a href="structpcl_1_1_bounding_box_x_y_z.html#af330b68c9dde00c92e5a518655dfcac6">pcl::BoundingBoxXYZ::height</a></div><div class="ttdeci">float height</div><div class="ttdoc">Height of the bounding box</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:64</div></div>
<div class="ttc" id="astructpcl_1_1_l_i_n_e_m_o_d_detection_html"><div class="ttname"><a href="structpcl_1_1_l_i_n_e_m_o_d_detection.html">pcl::LINEMODDetection</a></div><div class="ttdoc">Represents a detection of a template using the LINEMOD approach.</div><div class="ttdef"><b>Definition:</b> linemod.h:315</div></div>
<div class="ttc" id="astructpcl_1_1_l_i_n_e_m_o_d_detection_html_a5b0ae6f2aa1d3a67467d5890e5ee4430"><div class="ttname"><a href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a5b0ae6f2aa1d3a67467d5890e5ee4430">pcl::LINEMODDetection::template_id</a></div><div class="ttdeci">int template_id</div><div class="ttdoc">ID of the detected template.</div><div class="ttdef"><b>Definition:</b> linemod.h:324</div></div>
<div class="ttc" id="astructpcl_1_1_l_i_n_e_m_o_d_detection_html_a6a0b620be4a33b69bf2fac09f2ff8f0a"><div class="ttname"><a href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a6a0b620be4a33b69bf2fac09f2ff8f0a">pcl::LINEMODDetection::y</a></div><div class="ttdeci">int y</div><div class="ttdoc">y-position of the detection.</div><div class="ttdef"><b>Definition:</b> linemod.h:322</div></div>
<div class="ttc" id="astructpcl_1_1_l_i_n_e_m_o_d_detection_html_a71652f6da75b189628e2176d13ba5474"><div class="ttname"><a href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a71652f6da75b189628e2176d13ba5474">pcl::LINEMODDetection::scale</a></div><div class="ttdeci">float scale</div><div class="ttdoc">scale at which the template was detected.</div><div class="ttdef"><b>Definition:</b> linemod.h:328</div></div>
<div class="ttc" id="astructpcl_1_1_l_i_n_e_m_o_d_detection_html_a8d1499ff25f160543569ddd6feefb805"><div class="ttname"><a href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#a8d1499ff25f160543569ddd6feefb805">pcl::LINEMODDetection::score</a></div><div class="ttdeci">float score</div><div class="ttdoc">score of the detection.</div><div class="ttdef"><b>Definition:</b> linemod.h:326</div></div>
<div class="ttc" id="astructpcl_1_1_l_i_n_e_m_o_d_detection_html_ab79e94254c59b9f0f1445dbf8489ab36"><div class="ttname"><a href="structpcl_1_1_l_i_n_e_m_o_d_detection.html#ab79e94254c59b9f0f1445dbf8489ab36">pcl::LINEMODDetection::x</a></div><div class="ttdeci">int x</div><div class="ttdoc">x-position of the detection.</div><div class="ttdef"><b>Definition:</b> linemod.h:320</div></div>
<div class="ttc" id="astructpcl_1_1_line_r_g_b_d_1_1_detection_html"><div class="ttname"><a href="structpcl_1_1_line_r_g_b_d_1_1_detection.html">pcl::LineRGBD::Detection</a></div><div class="ttdoc">A LineRGBD detection.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:79</div></div>
<div class="ttc" id="astructpcl_1_1_line_r_g_b_d_1_1_detection_html_a371bf3ae5d566bf5bced79f137dee7e6"><div class="ttname"><a href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a371bf3ae5d566bf5bced79f137dee7e6">pcl::LineRGBD::Detection::object_id</a></div><div class="ttdeci">size_t object_id</div><div class="ttdoc">The ID of the object corresponding to the template.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:86</div></div>
<div class="ttc" id="astructpcl_1_1_line_r_g_b_d_1_1_detection_html_a3f6202bca884484b2ef7a9ca0edd2bbc"><div class="ttname"><a href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a3f6202bca884484b2ef7a9ca0edd2bbc">pcl::LineRGBD::Detection::detection_id</a></div><div class="ttdeci">size_t detection_id</div><div class="ttdoc">The ID of this detection. This is only valid for the last call of the method detect (....</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:88</div></div>
<div class="ttc" id="astructpcl_1_1_line_r_g_b_d_1_1_detection_html_a5391c8dca3c215eca707a096f93fa758"><div class="ttname"><a href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#a5391c8dca3c215eca707a096f93fa758">pcl::LineRGBD::Detection::bounding_box</a></div><div class="ttdeci">BoundingBoxXYZ bounding_box</div><div class="ttdoc">The 3D bounding box of the detection.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:92</div></div>
<div class="ttc" id="astructpcl_1_1_line_r_g_b_d_1_1_detection_html_aa4ba79365eacaca53febd469b2c7cb95"><div class="ttname"><a href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#aa4ba79365eacaca53febd469b2c7cb95">pcl::LineRGBD::Detection::template_id</a></div><div class="ttdeci">size_t template_id</div><div class="ttdoc">The ID of the template.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:84</div></div>
<div class="ttc" id="astructpcl_1_1_line_r_g_b_d_1_1_detection_html_ab480cd05d1d41fd906de543a3b5276cc"><div class="ttname"><a href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#ab480cd05d1d41fd906de543a3b5276cc">pcl::LineRGBD::Detection::response</a></div><div class="ttdeci">float response</div><div class="ttdoc">The response of this detection. Responses are between 0 and 1, where 1 is best.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:90</div></div>
<div class="ttc" id="astructpcl_1_1_line_r_g_b_d_1_1_detection_html_adb3f9494ff5217fe319280ae0807fb22"><div class="ttname"><a href="structpcl_1_1_line_r_g_b_d_1_1_detection.html#adb3f9494ff5217fe319280ae0807fb22">pcl::LineRGBD::Detection::region</a></div><div class="ttdeci">RegionXY region</div><div class="ttdoc">The 2D template region of the detection.</div><div class="ttdef"><b>Definition:</b> line_rgbd.h:94</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1_region_x_y_html"><div class="ttname"><a href="structpcl_1_1_region_x_y.html">pcl::RegionXY</a></div><div class="ttdoc">Defines a region in XY-space.</div><div class="ttdef"><b>Definition:</b> region_xy.h:83</div></div>
<div class="ttc" id="astructpcl_1_1_region_x_y_html_a08cedb5e7c6d6fc6abe758a91acbb9aa"><div class="ttname"><a href="structpcl_1_1_region_x_y.html#a08cedb5e7c6d6fc6abe758a91acbb9aa">pcl::RegionXY::x</a></div><div class="ttdeci">int x</div><div class="ttdoc">x-position of the region.</div><div class="ttdef"><b>Definition:</b> region_xy.h:88</div></div>
<div class="ttc" id="astructpcl_1_1_region_x_y_html_a2040926ab029db2fb8956e8c4009f273"><div class="ttname"><a href="structpcl_1_1_region_x_y.html#a2040926ab029db2fb8956e8c4009f273">pcl::RegionXY::width</a></div><div class="ttdeci">int width</div><div class="ttdoc">width of the region.</div><div class="ttdef"><b>Definition:</b> region_xy.h:92</div></div>
<div class="ttc" id="astructpcl_1_1_region_x_y_html_afade349621bae141febb8220469de8bb"><div class="ttname"><a href="structpcl_1_1_region_x_y.html#afade349621bae141febb8220469de8bb">pcl::RegionXY::y</a></div><div class="ttdeci">int y</div><div class="ttdoc">y-position of the region.</div><div class="ttdef"><b>Definition:</b> region_xy.h:90</div></div>
<div class="ttc" id="astructpcl_1_1_region_x_y_html_afd3791c009b1520b7b2b5c81faa044b8"><div class="ttname"><a href="structpcl_1_1_region_x_y.html#afd3791c009b1520b7b2b5c81faa044b8">pcl::RegionXY::height</a></div><div class="ttdeci">int height</div><div class="ttdoc">height of the region.</div><div class="ttdef"><b>Definition:</b> region_xy.h:94</div></div>
<div class="ttc" id="astructpcl_1_1_sparse_quantized_multi_mod_template_html"><div class="ttname"><a href="structpcl_1_1_sparse_quantized_multi_mod_template.html">pcl::SparseQuantizedMultiModTemplate</a></div><div class="ttdoc">A multi-modality template constructed from a set of quantized multi-modality features.</div><div class="ttdef"><b>Definition:</b> sparse_quantized_multi_mod_template.h:110</div></div>
<div class="ttc" id="astructpcl_1_1_sparse_quantized_multi_mod_template_html_a7a92c3494f0dfad67da6bb001c3bc63c"><div class="ttname"><a href="structpcl_1_1_sparse_quantized_multi_mod_template.html#a7a92c3494f0dfad67da6bb001c3bc63c">pcl::SparseQuantizedMultiModTemplate::region</a></div><div class="ttdeci">RegionXY region</div><div class="ttdoc">The region assigned to the template.</div><div class="ttdef"><b>Definition:</b> sparse_quantized_multi_mod_template.h:118</div></div>
<div class="ttc" id="astructpcl_1_1_sparse_quantized_multi_mod_template_html_a89bbed40834ebdf5bfdd9e718746ed7b"><div class="ttname"><a href="structpcl_1_1_sparse_quantized_multi_mod_template.html#a89bbed40834ebdf5bfdd9e718746ed7b">pcl::SparseQuantizedMultiModTemplate::deserialize</a></div><div class="ttdeci">void deserialize(std::istream &amp;stream)</div><div class="ttdoc">Deserializes the object from the specified stream.</div><div class="ttdef"><b>Definition:</b> sparse_quantized_multi_mod_template.h:138</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1_t_a_r_header_html"><div class="ttname"><a href="structpcl_1_1io_1_1_t_a_r_header.html">pcl::io::TARHeader</a></div><div class="ttdoc">A TAR file's header, as described on http://en.wikipedia.org/wiki/Tar_%28file_format%29.</div><div class="ttdef"><b>Definition:</b> tar.h:51</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1_t_a_r_header_html_a454d9e608b1311a6761804f6361395db"><div class="ttname"><a href="structpcl_1_1io_1_1_t_a_r_header.html#a454d9e608b1311a6761804f6361395db">pcl::io::TARHeader::getFileSize</a></div><div class="ttdeci">unsigned int getFileSize()</div><div class="ttdoc">get file size</div><div class="ttdef"><b>Definition:</b> tar.h:72</div></div>
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